End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder

Takashi Matsuzawa, Kenji Hashimoto, Tomotaka Teramachi, Kazuhiro Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, Atsuo Takanishi

    研究成果: Chapter

    7 引用 (Scopus)

    抜粋

    This paper describes the development of end-effector for disaster response robot with commonly structured limbs and experiment of climbing a vertical ladder. The end-effector is required to have the ability to hang on rungs and side rails and work as both hands and feet. We developed an end-effector with hook-like shape so that it can hang on both rungs and side rails, and grooves on the back of hook make it possible for the end-effector to play the role of both hands and feet, fixing on the rungs of ladder firmly. Moreover, the design of the end-effector allows the robot to perform some locomotion style other than climbing, like bipedal walking. We made the experiment in climbing a ladder obeying Japanese Industrial Standards (JIS) performed by the robot. As a result, end-effectors enabled the robot’s feet to reach the highest rung.

    元の言語English
    ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
    出版者Springer International Publishing
    ページ311-319
    ページ数9
    DOI
    出版物ステータスPublished - 2016 1 1

    出版物シリーズ

    名前CISM International Centre for Mechanical Sciences, Courses and Lectures
    569
    ISSN(印刷物)0254-1971
    ISSN(電子版)2309-3706

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

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  • これを引用

    Matsuzawa, T., Hashimoto, K., Teramachi, T., Uryu, K., Sun, X., Hamamoto, S., Koizumi, A., & Takanishi, A. (2016). End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder. : CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 311-319). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_35